DE102016224573A1 - Radar system with dynamic object detection in a vehicle. - Google Patents
Radar system with dynamic object detection in a vehicle. Download PDFInfo
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- DE102016224573A1 DE102016224573A1 DE102016224573.2A DE102016224573A DE102016224573A1 DE 102016224573 A1 DE102016224573 A1 DE 102016224573A1 DE 102016224573 A DE102016224573 A DE 102016224573A DE 102016224573 A1 DE102016224573 A1 DE 102016224573A1
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- 238000001514 detection method Methods 0.000 title claims description 4
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000006978 adaptation Effects 0.000 description 4
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Verfahren zum Betrieb eines Radarsystems in einem Fahrzeug mit den Schritten Erkennen eines Objektes, wobei in einem Filterbereich um das erkannte Objekt mindestens ein Parameter des Radarsystems verändert wird, sodass eine Erkennungsgenauigkeit erhöht wird.Method for operating a radar system in a vehicle with the steps of detecting an object, wherein in a filter area around the detected object at least one parameter of the radar system is changed, so that a recognition accuracy is increased.
Description
Die Erfindung betrifft ein Radarsystem mit dynamischer Objekterfassung für ein Fahrzeug, sowie ein Verfahren zum Betrieb dieses Radarsystems.The invention relates to a radar system with dynamic object detection for a vehicle, as well as a method for operating this radar system.
Stand der TechnikState of the art
Radarsysteme finden in Fahrzeugen zunehmend Verbreitung. Beispielsweise ist aus
Insbesondere eine Notbremsung stellt hohe Anforderungen an die Zuverlässigkeit des Radarsystems. Das Radarsystem muss Änderungen im Verhalten des vorausfahrenden Fahrzeugs zügig erkennen, um rechtzeitig eine Notbremsung einleiten zu können.In particular, emergency braking places high demands on the reliability of the radar system. The radar system must quickly detect changes in the behavior of the preceding vehicle in order to be able to initiate emergency braking in good time.
Aus
Aufgabe und LösungTask and solution
Aufgabe der vorliegenden Erfindung ist es ein Radarsystem dahingehend weiter zu entwickeln, dass eine sinnvolle Auswahl von Bereichen für eine genauere Analyse erfolgt.The object of the present invention is to further develop a radar system such that a sensible selection of regions is made for a more accurate analysis.
Gelöst wird die Aufgabe durch ein Verfahren gemäß dem unabhängigen Anspruch, sowie einem Radarsystem gemäß dem Nebenanspruch. Weitere vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.The object is achieved by a method according to the independent claim, and a radar system according to the independent claim. Further advantageous embodiments of the invention are the subject of the dependent claims.
Das erfindungsgemäße Verfahren zum Betrieb eines Radarsystems in einem Fahrzeug weist folgende Schritte auf, ein Erkennen eines Objektes, wobei in einem Filterbereich um das erkannte Objekt mindestens ein Parameter des Radarsystems verändert wird, sodass eine Erkennungsgenauigkeit erhöht wird.The inventive method for operating a radar system in a vehicle has the following steps, detecting an object, wherein in a filter area around the detected object at least one parameter of the radar system is changed, so that a recognition accuracy is increased.
In vorteilhafter Weise erfolgt die datenintensive Betrachtung eines Bereichs nur dort, wo bereits ein Objekt erkannt oder vermutet wurde. Das durch Ändern der Parameter möglicherweise verursachte Verwischen von Grenzen zwischen Objekten kann durch eine Filterung des Bereichs um das Objekt vermindert werden.Advantageously, the data-intensive viewing of a region takes place only where an object has already been detected or suspected. The blurring of boundaries between objects possibly caused by changing the parameters can be reduced by filtering the area around the object.
Bevorzugt kann der Parameter mindestens eine Detektionsschwelle umfassen, die erniedrigt wird. In vorteilhafter Weise kann dadurch das Objekt genauer erkannt werden und Regelung auf dieses Objekt zielgenauer erfolgen.Preferably, the parameter may comprise at least one detection threshold, which is lowered. In this way, the object can be more accurately recognized and control of this object can be made more accurately.
Weiter bevorzugt kann der Parameter mindestens eine Empfangsleistung umfassen, die erhöht wird. In vorteilhafter Weise kann so die Objekterkennung im Filterbereich weiter erhöht werden ohne dass beispielsweise der Radarsensor überhitzt.More preferably, the parameter may include at least one received power, which is increased. Advantageously, the object recognition in the filter area can thus be further increased without, for example, the radar sensor overheating.
In einer weiteren Ausgestaltung der Erfindung kann der Parameter mindestens ein Signal zu Rauschverhältnis umfassen, das erhöht wird. In vorteilhafter Weise können dadurch auch kleinere Radarreflexionen erkannt werden, die ansonsten im Rauschen untergehen würden.In a further embodiment of the invention, the parameter may comprise at least one signal to noise ratio, which is increased. Advantageously, smaller radar reflections can be detected thereby, which would otherwise be lost in the noise.
Bevorzugt kann der Filterbereich durch mindestens eine Entfernung oder einen Winkel des Objekts zum Radarsystem bestimmt werden. In vorteilhafter Weise kann so bereits der zukünftig relevante Bereich gefiltert werden.Preferably, the filter area may be determined by at least one distance or angle of the object to the radar system. Advantageously, the future relevant area can thus already be filtered.
Weiter bevorzugt kann der Filterbereich mindestens durch eine Gierrate oder ein Lenkwinkel des Fahrzeugs bestimmt werden. In vorteilhafter Weise kann dadurch aus bereits bekannten Bewegungsparametern auf den zukünftigen relevanten Bereich geschlossen werden.More preferably, the filter area can be determined at least by a yaw rate or a steering angle of the vehicle. This advantageously makes it possible to deduce the future relevant area from already known motion parameters.
In einer weiteren Ausgestaltung der Erfindung kann der Filterbereich mindestens durch eine oder mehrere Eigenschaften des Objekts bestimmt werden. In vorteilhafter Weise können so individuell an das Objekt angepasste Parameter verwendet werden.In a further embodiment of the invention, the filter area can be determined at least by one or more properties of the object. Advantageously, parameters adapted individually to the object can thus be used.
Bevorzugt können die objektindividuellen Parameter im Fahrzeug oder extern gespeichert sein und beispielsweise über eine c2x oder c2c Verbindung übertragen werden. In vorteilhafter Weise ist so eine besonders genaue Anpassung der Parameter an das Objekt möglich.Preferably, the object-specific parameters can be stored in the vehicle or externally and transmitted, for example, via a c2x or c2c connection. Advantageously, a particularly accurate adaptation of the parameters to the object is possible.
Weiter bevorzugt kann der Filterbereich mindestens durch eine Trajektorie des Fahrzeugs bestimmt werden. In vorteilhafter Weise kann dadurch aus der bekannte Trajektorie, beispielsweise aus einem Navigationsgerät, auf den zukünftigen relevanten Bereich geschlossen werden.More preferably, the filter area can be determined at least by a trajectory of the vehicle. In an advantageous manner, it is thereby possible to deduce the future relevant area from the known trajectory, for example from a navigation device.
In einer weiteren Ausgestaltung der Erfindung kann der Filterbereich mindestens durch empfangene Informationen über eine mobile Verbindung bestimmt werden. In vorteilhafter Weise enthält das Fahrzeug bereits beispielsweise Positionsinformationen von relevanten Objekten, die mittels Anpassung der Parameter im Filterbereich besser erkennbar sind.In a further embodiment of the invention, the filter area can be determined at least by received information via a mobile connection. Advantageously, the vehicle already contains, for example, position information of relevant objects, which are better recognizable by means of adaptation of the parameters in the filter area.
Erfindungsgemäß ist ein Radarsystem in einem Fahrzeug eingerichtet ein Verfahren gemäß einer der bevorzugten Ausgestaltung der Erfindung auszuführen.According to the invention, a radar system in a vehicle is set up to carry out a method according to one of the preferred embodiments of the invention.
Figurenliste list of figures
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1 zeigt ein Fahrzeug 1 mit einem Radarsystem 3. Das Radarsystem 3 überwacht den Nahbereich 7 und den Fernbereich 9. Das Fahrzeug 1 befindet sich auf der rechten Fahrspur. Die Fahrspurmarkierung 2 ist lediglich angedeutet. Im Nahbereich 7 befindet sich am rechten Fahrbahnrand ein Fußgänger 6. Um den Fußgänger 6 besser erkennen zu können wird im Bereich um den Fußgänger 6 ein Filterkasten 13 gelegt. In diesem Filterkasten 13 werden die Parameter für die Auswertung des Radarsignals verändert. Die Arme und Beine des Fußgängers 6 erzeugen sogenannte Mikrodoppler, da sie sich mit einer anderen Geschwindigkeit fortbewegen als der Rumpf des Fußgängers 6. Durch das Ändern der Parameter lediglich im Filterbereich um den Fußgänger 6 sind diese Mikrodoppler besser erkennbar und die Objekterkennung des Fußgängers 6 verbessert sich.1 shows avehicle 1 with aradar system 3. Theradar system 3 monitors the near area 7 and the farrange 9. Thevehicle 1 is located in the right lane. The lane marking 2 is merely indicated. In the vicinity 7 is located on the right side of the road apedestrian 6. In order to recognize thepedestrian 6 better afilter box 13 is placed in the area around thepedestrian 6. In thisfilter box 13, the parameters for the evaluation of the radar signal are changed. The arms and legs of thepedestrian 6 produce so-called microdoppler, since they move at a different speed than the trunk of thepedestrian 6. By changing the parameters only in the filter area to thepedestrian 6 these microdoppler are better visible and the object recognition of thepedestrian 6 improved yourself.
Im Fernbereich
In
In
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102010006214 A1 [0002]DE 102010006214 A1 [0002]
- DE 2005009626 A1 [0004]DE 2005009626 A1 [0004]
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102016224573.2A DE102016224573A1 (en) | 2016-12-09 | 2016-12-09 | Radar system with dynamic object detection in a vehicle. |
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DE102016224573.2A DE102016224573A1 (en) | 2016-12-09 | 2016-12-09 | Radar system with dynamic object detection in a vehicle. |
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DE102016224573A1 true DE102016224573A1 (en) | 2018-06-14 |
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DE102016224573.2A Withdrawn DE102016224573A1 (en) | 2016-12-09 | 2016-12-09 | Radar system with dynamic object detection in a vehicle. |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020006533A1 (en) * | 2018-06-28 | 2020-01-02 | Upamanyu Madhow | Robust radar-centric perception system |
US11428798B2 (en) * | 2017-11-13 | 2022-08-30 | Robin Radar Facilities Bv | Radar based system and method for detection of an object and generation of plots holding radial velocity data, and system for detection and classification of unmanned aerial vehicles, UAVs |
Citations (6)
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DE10360890A1 (en) * | 2003-12-19 | 2005-07-21 | Robert Bosch Gmbh | Radar sensor and method for its operation |
DE102005009626A1 (en) | 2005-02-24 | 2006-08-31 | Universität Tübingen | Camera for tracking objects, has processing unit with region of interest-sampling unit, and tracking unit with particle filter, which are provided to determine tracking data of objects to be tracked on basis of image data |
US20100207806A1 (en) * | 2007-07-27 | 2010-08-19 | Toyota Jidosha Kabushiki Kaisha | Pulse radar apparatus |
DE102009018311A1 (en) * | 2009-04-22 | 2010-10-28 | Valeo Schalter Und Sensoren Gmbh | Method and apparatus for operating a radar-based environment recognition system |
DE102010006214A1 (en) | 2010-01-29 | 2011-08-04 | Bayerische Motoren Werke Aktiengesellschaft, 80809 | Emergency brake assistant for automatic braking of a vehicle for collision avoidance or collision consequence reduction |
DE102012200975A1 (en) * | 2011-09-08 | 2013-03-14 | Mitsubishi Electric Corp. | Object detection device |
-
2016
- 2016-12-09 DE DE102016224573.2A patent/DE102016224573A1/en not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10360890A1 (en) * | 2003-12-19 | 2005-07-21 | Robert Bosch Gmbh | Radar sensor and method for its operation |
DE102005009626A1 (en) | 2005-02-24 | 2006-08-31 | Universität Tübingen | Camera for tracking objects, has processing unit with region of interest-sampling unit, and tracking unit with particle filter, which are provided to determine tracking data of objects to be tracked on basis of image data |
US20100207806A1 (en) * | 2007-07-27 | 2010-08-19 | Toyota Jidosha Kabushiki Kaisha | Pulse radar apparatus |
DE102009018311A1 (en) * | 2009-04-22 | 2010-10-28 | Valeo Schalter Und Sensoren Gmbh | Method and apparatus for operating a radar-based environment recognition system |
DE102010006214A1 (en) | 2010-01-29 | 2011-08-04 | Bayerische Motoren Werke Aktiengesellschaft, 80809 | Emergency brake assistant for automatic braking of a vehicle for collision avoidance or collision consequence reduction |
DE102012200975A1 (en) * | 2011-09-08 | 2013-03-14 | Mitsubishi Electric Corp. | Object detection device |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11428798B2 (en) * | 2017-11-13 | 2022-08-30 | Robin Radar Facilities Bv | Radar based system and method for detection of an object and generation of plots holding radial velocity data, and system for detection and classification of unmanned aerial vehicles, UAVs |
WO2020006533A1 (en) * | 2018-06-28 | 2020-01-02 | Upamanyu Madhow | Robust radar-centric perception system |
US11885906B2 (en) | 2018-06-28 | 2024-01-30 | Plato Systems, Inc. | Multimodal sensing, fusion for machine perception |
US12000951B2 (en) | 2018-06-28 | 2024-06-04 | Plato Systems, Inc. | Robust radar-centric perception system |
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Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE Free format text: FORMER OWNER: CONTI TEMIC MICROELECTRONIC GMBH, 90411 NUERNBERG, DE |
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